Position and Anti-Collision Sensor Systems for Large Manipulators

This paper is dealing with two sensor systems for a large manipulator with the reach of 20 meters, which are under development as a part of a running ESPRIT II project. One system is an opto-electric position sensor system closely linked to the manipulator arm, which has the aim at increasing accuracy and speed. The other system is an ultrasound anti-collision sensor system capable of detecting unexpected obstacle within the manipulator’s workspace to increase safety of operation.